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   &#160;<span id="projectnumber">1</span>
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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<div class="title">misc.h File Reference<div class="ingroups"><a class="el" href="group__utils.html">Utils</a></div></div>  </div>
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<p>some general case utility functions  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="macros_8h_source.html">macros.h</a>&quot;</code><br />
<code>#include &lt;cmath&gt;</code><br />
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<p><a href="misc_8h_source.html">Go to the source code of this file.</a></p>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_force_linker.html">g2o::ForceLinker</a></td></tr>
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Macros</h2></td></tr>
<tr class="memitem:ae71449b1cc6e6250b91f539153a7a0d3"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>&#160;&#160;&#160;3.14159265358979323846</td></tr>
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Typedefs</h2></td></tr>
<tr class="memitem:a3be76fea59d320255e89425439f18f48"><td class="memItemLeft" align="right" valign="top">typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">g2o::ForceLinkFunction</a>) (void)</td></tr>
<tr class="memdesc:a3be76fea59d320255e89425439f18f48"><td class="mdescLeft">&#160;</td><td class="mdescRight">The following two functions are used to force linkage with static libraries.  <a href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">More...</a><br /></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a123840a60e0d1dde58088d15a1e1fffa"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a123840a60e0d1dde58088d15a1e1fffa">g2o::arrayHasNaN</a> (const double *array, int size, int *nanIndex=0)</td></tr>
<tr class="memdesc:a123840a60e0d1dde58088d15a1e1fffa"><td class="mdescLeft">&#160;</td><td class="mdescRight">tests whether there is a NaN in the array  <a href="namespaceg2o.html#a123840a60e0d1dde58088d15a1e1fffa">More...</a><br /></td></tr>
<tr class="separator:a123840a60e0d1dde58088d15a1e1fffa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25f6d3c7415a89f7a5bc1875a7fa5009"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a25f6d3c7415a89f7a5bc1875a7fa5009">g2o::average_angle</a> (double theta1, double theta2)</td></tr>
<tr class="memdesc:a25f6d3c7415a89f7a5bc1875a7fa5009"><td class="mdescLeft">&#160;</td><td class="mdescRight">average two angles  <a href="namespaceg2o.html#a25f6d3c7415a89f7a5bc1875a7fa5009">More...</a><br /></td></tr>
<tr class="separator:a25f6d3c7415a89f7a5bc1875a7fa5009"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50939862674314724dd800c41f82e7fe"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a50939862674314724dd800c41f82e7fe"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a50939862674314724dd800c41f82e7fe">g2o::clamp</a> (T l, T x, T u)</td></tr>
<tr class="memdesc:a50939862674314724dd800c41f82e7fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">clamp x to the interval [l, u]  <a href="namespaceg2o.html#a50939862674314724dd800c41f82e7fe">More...</a><br /></td></tr>
<tr class="separator:a50939862674314724dd800c41f82e7fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f29adce7d7b9855e1d0ba43835c34b3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a8f29adce7d7b9855e1d0ba43835c34b3">g2o::deg2rad</a> (double degree)</td></tr>
<tr class="memdesc:a8f29adce7d7b9855e1d0ba43835c34b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">convert from degree to radian  <a href="namespaceg2o.html#a8f29adce7d7b9855e1d0ba43835c34b3">More...</a><br /></td></tr>
<tr class="separator:a8f29adce7d7b9855e1d0ba43835c34b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a586ee8937cdc8de49303abd1611da387"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a586ee8937cdc8de49303abd1611da387"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a586ee8937cdc8de49303abd1611da387">g2o::hypot</a> (T x, T y)</td></tr>
<tr class="memdesc:a586ee8937cdc8de49303abd1611da387"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the hypot of x and y  <a href="namespaceg2o.html#a586ee8937cdc8de49303abd1611da387">More...</a><br /></td></tr>
<tr class="separator:a586ee8937cdc8de49303abd1611da387"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2989135761e62b40066193a11950d21"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ac2989135761e62b40066193a11950d21"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#ac2989135761e62b40066193a11950d21">g2o::hypot_sqr</a> (T x, T y)</td></tr>
<tr class="memdesc:ac2989135761e62b40066193a11950d21"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the squared hypot of x and y  <a href="namespaceg2o.html#ac2989135761e62b40066193a11950d21">More...</a><br /></td></tr>
<tr class="separator:ac2989135761e62b40066193a11950d21"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ae48fc8caba4b009642ca53d69a3b98"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a9ae48fc8caba4b009642ca53d69a3b98">g2o::inverse_theta</a> (double th)</td></tr>
<tr class="memdesc:a9ae48fc8caba4b009642ca53d69a3b98"><td class="mdescLeft">&#160;</td><td class="mdescRight">inverse of an angle, i.e., +180 degree  <a href="namespaceg2o.html#a9ae48fc8caba4b009642ca53d69a3b98">More...</a><br /></td></tr>
<tr class="separator:a9ae48fc8caba4b009642ca53d69a3b98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f036eb4c147ddf174aa56fa031f3867"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">g2o::normalize_theta</a> (double theta)</td></tr>
<tr class="memdesc:a9f036eb4c147ddf174aa56fa031f3867"><td class="mdescLeft">&#160;</td><td class="mdescRight">normalize the angle  <a href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">More...</a><br /></td></tr>
<tr class="separator:a9f036eb4c147ddf174aa56fa031f3867"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3965702cbb6051fa2bdb0c75c0358126"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a3965702cbb6051fa2bdb0c75c0358126">g2o::rad2deg</a> (double rad)</td></tr>
<tr class="memdesc:a3965702cbb6051fa2bdb0c75c0358126"><td class="mdescLeft">&#160;</td><td class="mdescRight">convert from radian to degree  <a href="namespaceg2o.html#a3965702cbb6051fa2bdb0c75c0358126">More...</a><br /></td></tr>
<tr class="separator:a3965702cbb6051fa2bdb0c75c0358126"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a821ae3df8a97b37daf8804ef3a26ef1d"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a821ae3df8a97b37daf8804ef3a26ef1d"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a821ae3df8a97b37daf8804ef3a26ef1d">g2o::sign</a> (T x)</td></tr>
<tr class="memdesc:a821ae3df8a97b37daf8804ef3a26ef1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">sign function.  <a href="namespaceg2o.html#a821ae3df8a97b37daf8804ef3a26ef1d">More...</a><br /></td></tr>
<tr class="separator:a821ae3df8a97b37daf8804ef3a26ef1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada3127f4fe72b228407fabe23b72a50b"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ada3127f4fe72b228407fabe23b72a50b"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#ada3127f4fe72b228407fabe23b72a50b">g2o::square</a> (T x)</td></tr>
<tr class="memdesc:ada3127f4fe72b228407fabe23b72a50b"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the square value  <a href="namespaceg2o.html#ada3127f4fe72b228407fabe23b72a50b">More...</a><br /></td></tr>
<tr class="separator:ada3127f4fe72b228407fabe23b72a50b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a207912b4849eaff934f6384bc79d07ce"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a207912b4849eaff934f6384bc79d07ce"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceg2o.html#a207912b4849eaff934f6384bc79d07ce">g2o::wrap</a> (T l, T x, T u)</td></tr>
<tr class="memdesc:a207912b4849eaff934f6384bc79d07ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">wrap x to be in the interval [l, u]  <a href="namespaceg2o.html#a207912b4849eaff934f6384bc79d07ce">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>some general case utility functions </p>
<p>This file specifies some general case utility functions </p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
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          <td class="memname">#define M_PI&#160;&#160;&#160;3.14159265358979323846</td>
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